\chapter{Mechanical \& Manufacturing school progress report}
\textit{\LARGE{\indent Lachlan Davies and Monica Chi}}




\section{Hardware simulation and testing}
At this stage hardware simulation and testing cannot be conducted by the school of Mechanical and Manufacturing engineering due to early stages of project maturity. 

\section{Sensors and platforms}
\subsection{Sensors}
A study is being conducted into a range of ultrasonic sensors which could be useful for the project, however this is also restricted due to project maturity. 
\subsection{Platforms}
An initial study is also being conducted into possible platforms that could be used for the project. This study could also be useful for comparison purposes to the platform under development. A summary of the data of selected drones is shown in table \ref{tab:dro}.
\begin{table}
\centering

\begin{tabular}{rrrrr}

           & Aeryon Scout & Microdrone MD4-200 & Parrot AR-Drone & Arducopter \\
\hline
Gross weight (kg) &        1.4 &       2.65 &       0.42 &       0.75 \\

 MTOW (kg) &        1.7 &       5.55 &            &        1.3 \\

Cruise speed (km/h) &         40 &         54 &         18 &       30     \\

 ROC (m/s) &          2 &        7.5 &     ~ 2       &     5       \\

Endurance (min): &         25 &         50 &         12 & 15-40 min \\

Service ceiling (m): &        333 &       1000 & 50  &       800 \\

Wind tolerance(km/h) &         50 &       21.6 &            &            \\

Ground Control &          Y &          Y &          N &          Y \\

Open source &          N &          N &     Partly &          Y \\

      Cost &       3200 &       4000 &        350 & 900-1100 \\

\end{tabular}  
\caption{Comparison of selected MAVs}
\label{tab:dro}
\end{table}

\section{Introduction to navigation}
The School of Mechanical and manufacturing engineering is to support the development of a navigation and control system for the robust quadrotor based UAV platform. This section of the report outlines the progress made on developing a navigation algorithm. 

\section{Solution methodology}
The navigation algorithm is actively being developed. The software is programmed entirely in the C programming language to allow for collaboration and eventual embedding on board.
The navigation algorithm is being developed along two streams: Moving to a stationary target and intercepting a moving target. The following sections show the initial logic and methodology being used to design and implement these navigation algorithms.
\subsection{Stationary target}
An outline of the logical flow of the stationary target algorithm being built is shown in figure \ref{fig:flow2}. This flowchart is indicative of the C code being developed. 

\subsection{Moving target}
THe navigation to a moving target has two phases.THe first phase uses proportional navigation to intercept the target rapidly. The second phase, initiated once the target is reached, enters a pursuit of the target, maintaining a close proximity to the target. 
An outline of the logical flow of the proportional navigation section of the moving target algorithm being built is shown in figure \ref{fig:flow3}. This flowchart is indicative of the C code being developed to navigate to a moving target.


\begin{figure}
\centering
\includegraphics[width=1\textwidth]{images/flow2}
\caption{Flowchart for navigation to a stationary target}
\label{fig:flow2}
\end{figure}


\begin{figure}
\centering
\includegraphics[width=1\textwidth]{images/flow3}
\caption{Flowchart for navigation to a moving target}
\label{fig:flow3}
\end{figure}

\section{Initial testing}
The navigation algorithm is currently being tested using the following hardware. It should be noted that although this hardware is different to that being developed by the SSIS, the navigation algorithm being constructed is of a generic nature and is designed to be portable across different hardware. 

%
%\begin{figure}
%	\begin{subfigure}{0.3\textwidth}
%	\includegraphics[width=\textwidth]{images/gps}
%	\caption{LS20030 GPS}
%		\label{fig:gps}
%	\end{subfigure}
%	\begin{subfigure}{0.3\textwidth}
%	\includegraphics[width=\textwidth]{images/xbe}
%		\caption{XBee telemetry}
%			\label{fig:xbe}
%	\end{subfigure}
%	\begin{subfigure}{0.3\textwidth}
%	\includegraphics[width=\textwidth]{images/ard}
%		\caption{Arduino UNO}
%			\label{fig:ard}
%	\end{subfigure}
%	\caption{Navigation module components}
%	\label{fig:navmod}
%\end{figure}
\subsection{Navigation module}
The navigation module has three primary components; 
\begin{itemize}
\item A LOCOSYS LS20030 GPS Receiver;
\item An XBee S2 wireless telemetry system;
\item An Arduino Uno control board.
\end{itemize}
%The constructed navigation module is shown in figure \ref{fig:nav}
%\begin{figure}
%\centering
%\includegraphics[width=1\textwidth]{nav}
%\caption{Navigation module}
%\label{fig:nav}
%\end{figure}

\subsection{Flight platform}
The navigation algorithm is to begin initial testing on a Parrot ARDrone. Again, this is for testing purposes and the algorithms are of a generic nature.